Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 91 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 91 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -144797.47 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -144797.47

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 9 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 91 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 154737,6224.848,-1043.966,32,1.0,32,-10.5 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.194,0.101

_SM_DEPTHo 1.47 KALMAN_X 51638.9,-713.1,-594.9,-102071.2,17587.1

_SM_ANGLEo -55.6 KALMAN_Y -25282.8,913.0,-1205.9,73643.3,-15976.3

GPS2 155350,6224.785,-1043.969,14,1.1,14,-10.5 MHEAD_RNG_PITCHd_Wd 308.0,13753,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027485 ALTIM_BOTTOM_PING 675.8,42.6

SM_CCo 16571,0.00,0.000,0,0,1432,360.59 _24V_AH 23.4,22.559

SM_GC 1.29,11.98,0.00,0.00,0.035,0.000,0.000,53,2649,1432,-10.93,-0.03,360.59 _10V_AH 10.1,11.781

IRIDIUM_FIX 6202.67,-1045.75,070698,101025 DATA_FILE_SIZE 40990,792

TT8_MAMPS 0.028379 CAP_FILE_SIZE 109424,0

HUMID 1771 CFSIZE 260165632,252067840

INTERNAL_PRESSURE 8.53548 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.60 GPS 130309,203227,6225.115,-1047.769,38,2.3,57,-10.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 99.77 SBE_CT 556 24 312.42

Roll_motor 106 105 264.27 SBE_O2 580 19 257.90

VBD_pump_during_apogee 426 1129 11263.15 WL_BB2F 482 105 1185.47

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.30 nil 0 0 0.00

Iridium_during_connect 29 160 110.41 nil 0 0 0.00

Iridium_during_xfer 182 223 951.01

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.34

TT8 1414 19 282.85

LPSleep 12806 2 283.26

TT8_Active 504 19 100.98

TT8_Sampling 1680 39 675.36

TT8_CF8 533 45 246.93

TT8_Kalman 33 81 27.56

Analog_circuits 1345 12 163.06

GPS_charging 0 0 0.00

Compass 1644 8 132.84

RAFOS 0 0 0.00

Transponder 45 30 13.85

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -40.83 0.000 2 0.000 0.000 44 2649 3333

62 -1.10 -146.6 4.3 -11.6 2 85 12.18 2.25 -2.70 0.000 4 0.160 0.106 2194 3780 3503

338 -1.10 -146.6 38.3 -9.0 14 342 0.00 2.10 0.00 0.000 6 0.000 0.064 2194 2646 3502

665 -1.10 -146.6 62.6 -7.6 30 669 0.00 2.22 0.00 0.000 4 0.000 0.090 2194 3786 3502

889 -1.10 -146.6 79.8 -9.0 40 893 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2642 3503

1217 -1.10 -146.6 103.0 -7.6 56 1218 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3502

1526 -1.10 -146.6 126.7 -9.2 71 1527 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3503

1835 -1.10 -146.6 149.9 -7.5 86 1840 0.00 2.22 0.00 0.000 4 0.000 0.087 2194 3792 3502

1862 -1.10 -146.6 151.9 -7.1 87 1866 0.00 2.10 0.00 0.000 6 0.000 0.058 2194 2640 3502

2190 -1.10 -146.6 175.6 -7.1 103 2191 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2640 3502

2498 -1.10 -146.6 197.8 -7.4 118 2502 0.00 2.22 0.00 0.000 4 0.000 0.088 2194 3789 3503

2537 -1.10 -146.6 200.8 -7.8 119 2543 0.00 2.08 0.00 0.000 6 0.000 0.060 2194 2651 3503

2853 -1.10 -146.6 223.4 -6.8 135 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3502

3162 -1.10 -146.6 245.8 -7.5 150 3164 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3502

3472 -1.10 -146.6 268.7 -7.3 165 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2651 3503

3781 -1.10 -146.6 291.1 -7.0 180 3782 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3503

4090 -1.10 -146.6 314.5 -7.5 195 4091 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3503

4400 -1.10 -146.6 339.1 -8.1 210 4401 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3503

4709 -1.10 -146.6 362.3 -7.6 225 4710 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2650 3503

5018 -1.10 -146.6 385.1 -7.0 240 5022 0.00 2.17 0.00 0.000 4 0.000 0.084 2194 3787 3503

5064 -1.10 -146.6 388.3 -7.0 242 5068 0.00 2.08 0.00 0.000 6 0.000 0.058 2194 2641 3503

5397 -1.10 -146.6 412.9 -7.6 258 5398 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3503

5706 -1.10 -146.6 437.4 -8.6 273 5707 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2641 3503

6015 -1.10 -146.6 466.1 -9.4 288 6019 0.00 2.20 0.00 0.000 4 0.000 0.084 2194 3790 3503

6087 -1.10 -146.6 473.2 -10.0 291 6091 0.00 2.08 0.00 0.000 6 0.000 0.056 2194 2642 3503

6414 -1.10 -146.6 504.0 -9.5 307 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3503

6724 -1.10 -146.6 534.7 -10.1 322 6725 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3503

7033 -1.10 -146.6 565.1 -9.7 337 7034 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2642 3503

7342 -1.10 -146.6 590.7 -7.3 352 7343 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3503

7652 -1.10 -146.6 609.2 -5.6 367 7653 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3502

7961 -1.10 -146.6 630.5 -8.1 382 7965 0.00 2.58 0.00 0.000 4 0.000 0.070 2194 1233 3502

8010 -1.10 -146.6 634.8 -8.9 384 8015 0.00 2.62 0.00 0.000 6 0.000 0.062 2194 2665 3503

8326 -1.10 -146.6 657.6 -6.3 399 8330 0.00 2.12 0.00 0.000 4 0.000 0.088 2194 3783 3502

8450 -1.10 -146.6 664.5 -5.5 404 8454 0.00 2.05 0.00 0.000 6 0.000 0.057 2194 2646 3502

8772 -1.10 -146.6 683.8 -6.6 420 8775 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3785 3502

8788 -1.10 -146.6 684.9 -6.5 420 8795 0.00 2.05 0.00 0.000 6 0.000 0.055 2194 2644 3502

9105 -1.10 -146.6 706.0 -7.1 436 9109 0.00 2.60 0.00 0.000 4 0.000 0.074 2194 1235 3501

9129 end dive: BOTTOM_OBSTACLE_DETECTED

state 9129 begin apogee

9138 -0.42 0.0 708.5 8.9 437 9269 0.75 0.00 124.82 1.129 6 0.100 0.000 2346 2020 2902

9270 end apogee: CONTROL_FINISHED_OK

state 9270 begin climb

9274 1.10 146.6 715.7 0.0 444 9400 1.58 0.00 122.45 1.109 6 0.061 0.000 2679 2022 2304

9709 1.37 360.4 716.6 0.1 465 9897 0.25 2.67 179.05 1.112 4 0.034 0.065 2747 3405 1432

9945 1.37 360.4 699.8 10.0 476 9949 0.00 2.55 0.00 0.000 6 0.000 0.047 2748 1997 1432

10261 1.37 360.4 667.3 9.8 491 10266 0.00 2.67 0.00 0.000 4 0.000 0.070 2748 3415 1431

10306 1.37 360.4 662.7 10.1 493 10311 0.00 2.58 0.00 0.000 6 0.000 0.051 2748 2003 1431

10628 1.37 360.4 636.7 7.7 509 10632 0.00 2.65 0.00 0.000 4 0.000 0.069 2748 3407 1430

10677 1.37 360.4 632.5 8.6 511 10682 0.00 2.58 0.00 0.000 6 0.000 0.051 2748 1990 1430

10994 1.37 360.4 604.9 9.9 526 10998 0.00 2.60 0.00 0.000 4 0.000 0.067 2748 586 1429

11066 1.37 360.4 596.7 11.9 529 11071 0.00 2.53 0.00 0.000 6 0.000 0.042 2748 2007 1430

11382 1.37 360.4 560.1 11.9 544 11386 0.00 2.60 0.00 0.000 4 0.000 0.068 2748 3410 1429

11438 1.37 360.4 553.4 12.7 546 11444 0.00 2.53 0.00 0.000 6 0.000 0.049 2748 2000 1429

11753 1.37 360.4 516.5 11.4 562 11755 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2000 1429

12063 1.37 360.4 480.9 11.6 577 12067 0.00 2.62 0.00 0.000 4 0.000 0.066 2749 3409 1429

12102 1.37 360.4 475.5 12.9 578 12108 0.00 2.55 0.00 0.000 6 0.000 0.049 2748 1995 1430

12418 1.37 360.4 436.3 12.0 594 12419 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1995 1429

12727 1.37 360.4 399.9 11.6 609 12728 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1995 1429

13036 1.37 360.4 365.6 10.8 624 13037 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1995 1429

13345 1.37 360.4 333.4 10.6 639 13350 0.00 2.62 0.00 0.000 4 0.000 0.067 2748 3406 1429

13379 1.37 360.4 329.5 11.3 640 13385 0.00 2.55 0.00 0.000 6 0.000 0.053 2748 1990 1429

13695 1.37 360.4 295.0 11.0 656 13696 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1990 1430

14004 1.37 360.4 261.1 11.7 671 14006 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 1990 1430

14313 1.37 360.4 226.7 10.8 686 14318 0.00 2.65 0.00 0.000 4 0.000 0.069 2748 3413 1431

14341 1.37 360.4 223.5 10.8 687 14346 0.00 2.58 0.00 0.000 6 0.000 0.054 2748 1993 1431

14663 1.37 360.4 192.0 9.1 703 14667 0.00 2.58 0.00 0.000 4 0.000 0.067 2748 586 1431

14696 1.37 360.4 189.1 7.9 704 14702 0.00 2.50 0.00 0.000 6 0.000 0.041 2748 2005 1431

15012 1.37 360.4 155.7 10.9 720 15013 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2005 1431

15322 1.37 360.4 121.1 11.7 735 15326 0.00 2.60 0.00 0.000 4 0.000 0.069 2748 3417 1431

15343 1.37 360.4 118.3 12.1 736 15348 0.00 2.58 0.00 0.000 6 0.000 0.054 2748 1992 1432

15667 1.37 360.4 85.9 8.7 752 15671 0.00 2.58 0.00 0.000 4 0.000 0.067 2748 586 1432

15722 1.37 360.4 80.8 9.0 754 15729 0.00 2.50 0.00 0.000 6 0.000 0.041 2748 2010 1432

16038 1.37 360.4 49.3 10.9 770 16040 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2012 1432

16348 1.37 360.4 16.9 13.4 785 16352 0.00 2.65 0.00 0.000 4 0.000 0.071 2748 588 1432

16394 1.37 360.4 11.1 11.9 787 16398 0.00 2.53 0.00 0.000 6 0.000 0.048 2748 2005 1432

16464 end climb: SURFACE_DEPTH_REACHED

state 16464 begin surface coast

16487 end surface coast: CONTROL_FINISHED_OK

state 16487 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	91	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-144797.47	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	154737,6224.848,-1043.966,32,1.0,32,-10.5	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.194,0.101
_SM_DEPTHo	1.47	KALMAN_X	51638.9,-713.1,-594.9,-102071.2,17587.1
_SM_ANGLEo	-55.6	KALMAN_Y	-25282.8,913.0,-1205.9,73643.3,-15976.3
GPS2	155350,6224.785,-1043.969,14,1.1,14,-10.5	MHEAD_RNG_PITCHd_Wd	308.0,13753,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.027485	ALTIM_BOTTOM_PING	675.8,42.6
SM_CCo	16571,0.00,0.000,0,0,1432,360.59	_24V_AH	23.4,22.559
SM_GC	1.29,11.98,0.00,0.00,0.035,0.000,0.000,53,2649,1432,-10.93,-0.03,360.59	_10V_AH	10.1,11.781
IRIDIUM_FIX	6202.67,-1045.75,070698,101025	DATA_FILE_SIZE	40990,792
TT8_MAMPS	0.028379	CAP_FILE_SIZE	109424,0
HUMID	1771	CFSIZE	260165632,252067840
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.60	GPS	130309,203227,6225.115,-1047.769,38,2.3,57,-10.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	99.77	SBE_CT	556	24	312.42
Roll_motor	106	105	264.27	SBE_O2	580	19	257.90
VBD_pump_during_apogee	426	1129	11263.15	WL_BB2F	482	105	1185.47
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.30	nil	0	0	0.00
Iridium_during_connect	29	160	110.41	nil	0	0	0.00
Iridium_during_xfer	182	223	951.01
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.34
TT8	1414	19	282.85
LPSleep	12806	2	283.26
TT8_Active	504	19	100.98
TT8_Sampling	1680	39	675.36
TT8_CF8	533	45	246.93
TT8_Kalman	33	81	27.56
Analog_circuits	1345	12	163.06
GPS_charging	0	0	0.00
Compass	1644	8	132.84
RAFOS	0	0	0.00
Transponder	45	30	13.85

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-40.83	0.000	2	0.000	0.000	44	2649	3333
62	-1.10	-146.6	4.3	-11.6	2	85	12.18	2.25	-2.70	0.000	4	0.160	0.106	2194	3780	3503
338	-1.10	-146.6	38.3	-9.0	14	342	0.00	2.10	0.00	0.000	6	0.000	0.064	2194	2646	3502
665	-1.10	-146.6	62.6	-7.6	30	669	0.00	2.22	0.00	0.000	4	0.000	0.090	2194	3786	3502
889	-1.10	-146.6	79.8	-9.0	40	893	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2642	3503
1217	-1.10	-146.6	103.0	-7.6	56	1218	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3502
1526	-1.10	-146.6	126.7	-9.2	71	1527	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3503
1835	-1.10	-146.6	149.9	-7.5	86	1840	0.00	2.22	0.00	0.000	4	0.000	0.087	2194	3792	3502
1862	-1.10	-146.6	151.9	-7.1	87	1866	0.00	2.10	0.00	0.000	6	0.000	0.058	2194	2640	3502
2190	-1.10	-146.6	175.6	-7.1	103	2191	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2640	3502
2498	-1.10	-146.6	197.8	-7.4	118	2502	0.00	2.22	0.00	0.000	4	0.000	0.088	2194	3789	3503
2537	-1.10	-146.6	200.8	-7.8	119	2543	0.00	2.08	0.00	0.000	6	0.000	0.060	2194	2651	3503
2853	-1.10	-146.6	223.4	-6.8	135	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3502
3162	-1.10	-146.6	245.8	-7.5	150	3164	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3502
3472	-1.10	-146.6	268.7	-7.3	165	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2651	3503
3781	-1.10	-146.6	291.1	-7.0	180	3782	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3503
4090	-1.10	-146.6	314.5	-7.5	195	4091	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3503
4400	-1.10	-146.6	339.1	-8.1	210	4401	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3503
4709	-1.10	-146.6	362.3	-7.6	225	4710	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2650	3503
5018	-1.10	-146.6	385.1	-7.0	240	5022	0.00	2.17	0.00	0.000	4	0.000	0.084	2194	3787	3503
5064	-1.10	-146.6	388.3	-7.0	242	5068	0.00	2.08	0.00	0.000	6	0.000	0.058	2194	2641	3503
5397	-1.10	-146.6	412.9	-7.6	258	5398	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3503
5706	-1.10	-146.6	437.4	-8.6	273	5707	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2641	3503
6015	-1.10	-146.6	466.1	-9.4	288	6019	0.00	2.20	0.00	0.000	4	0.000	0.084	2194	3790	3503
6087	-1.10	-146.6	473.2	-10.0	291	6091	0.00	2.08	0.00	0.000	6	0.000	0.056	2194	2642	3503
6414	-1.10	-146.6	504.0	-9.5	307	6415	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3503
6724	-1.10	-146.6	534.7	-10.1	322	6725	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3503
7033	-1.10	-146.6	565.1	-9.7	337	7034	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2642	3503
7342	-1.10	-146.6	590.7	-7.3	352	7343	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3503
7652	-1.10	-146.6	609.2	-5.6	367	7653	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3502
7961	-1.10	-146.6	630.5	-8.1	382	7965	0.00	2.58	0.00	0.000	4	0.000	0.070	2194	1233	3502
8010	-1.10	-146.6	634.8	-8.9	384	8015	0.00	2.62	0.00	0.000	6	0.000	0.062	2194	2665	3503
8326	-1.10	-146.6	657.6	-6.3	399	8330	0.00	2.12	0.00	0.000	4	0.000	0.088	2194	3783	3502
8450	-1.10	-146.6	664.5	-5.5	404	8454	0.00	2.05	0.00	0.000	6	0.000	0.057	2194	2646	3502
8772	-1.10	-146.6	683.8	-6.6	420	8775	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3785	3502
8788	-1.10	-146.6	684.9	-6.5	420	8795	0.00	2.05	0.00	0.000	6	0.000	0.055	2194	2644	3502
9105	-1.10	-146.6	706.0	-7.1	436	9109	0.00	2.60	0.00	0.000	4	0.000	0.074	2194	1235	3501
9129	end dive: BOTTOM_OBSTACLE_DETECTED
state	9129	begin apogee
9138	-0.42	0.0	708.5	8.9	437	9269	0.75	0.00	124.82	1.129	6	0.100	0.000	2346	2020	2902
9270	end apogee: CONTROL_FINISHED_OK
state	9270	begin climb
9274	1.10	146.6	715.7	0.0	444	9400	1.58	0.00	122.45	1.109	6	0.061	0.000	2679	2022	2304
9709	1.37	360.4	716.6	0.1	465	9897	0.25	2.67	179.05	1.112	4	0.034	0.065	2747	3405	1432
9945	1.37	360.4	699.8	10.0	476	9949	0.00	2.55	0.00	0.000	6	0.000	0.047	2748	1997	1432
10261	1.37	360.4	667.3	9.8	491	10266	0.00	2.67	0.00	0.000	4	0.000	0.070	2748	3415	1431
10306	1.37	360.4	662.7	10.1	493	10311	0.00	2.58	0.00	0.000	6	0.000	0.051	2748	2003	1431
10628	1.37	360.4	636.7	7.7	509	10632	0.00	2.65	0.00	0.000	4	0.000	0.069	2748	3407	1430
10677	1.37	360.4	632.5	8.6	511	10682	0.00	2.58	0.00	0.000	6	0.000	0.051	2748	1990	1430
10994	1.37	360.4	604.9	9.9	526	10998	0.00	2.60	0.00	0.000	4	0.000	0.067	2748	586	1429
11066	1.37	360.4	596.7	11.9	529	11071	0.00	2.53	0.00	0.000	6	0.000	0.042	2748	2007	1430
11382	1.37	360.4	560.1	11.9	544	11386	0.00	2.60	0.00	0.000	4	0.000	0.068	2748	3410	1429
11438	1.37	360.4	553.4	12.7	546	11444	0.00	2.53	0.00	0.000	6	0.000	0.049	2748	2000	1429
11753	1.37	360.4	516.5	11.4	562	11755	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2000	1429
12063	1.37	360.4	480.9	11.6	577	12067	0.00	2.62	0.00	0.000	4	0.000	0.066	2749	3409	1429
12102	1.37	360.4	475.5	12.9	578	12108	0.00	2.55	0.00	0.000	6	0.000	0.049	2748	1995	1430
12418	1.37	360.4	436.3	12.0	594	12419	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1995	1429
12727	1.37	360.4	399.9	11.6	609	12728	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1995	1429
13036	1.37	360.4	365.6	10.8	624	13037	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1995	1429
13345	1.37	360.4	333.4	10.6	639	13350	0.00	2.62	0.00	0.000	4	0.000	0.067	2748	3406	1429
13379	1.37	360.4	329.5	11.3	640	13385	0.00	2.55	0.00	0.000	6	0.000	0.053	2748	1990	1429
13695	1.37	360.4	295.0	11.0	656	13696	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1990	1430
14004	1.37	360.4	261.1	11.7	671	14006	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	1990	1430
14313	1.37	360.4	226.7	10.8	686	14318	0.00	2.65	0.00	0.000	4	0.000	0.069	2748	3413	1431
14341	1.37	360.4	223.5	10.8	687	14346	0.00	2.58	0.00	0.000	6	0.000	0.054	2748	1993	1431
14663	1.37	360.4	192.0	9.1	703	14667	0.00	2.58	0.00	0.000	4	0.000	0.067	2748	586	1431
14696	1.37	360.4	189.1	7.9	704	14702	0.00	2.50	0.00	0.000	6	0.000	0.041	2748	2005	1431
15012	1.37	360.4	155.7	10.9	720	15013	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2005	1431
15322	1.37	360.4	121.1	11.7	735	15326	0.00	2.60	0.00	0.000	4	0.000	0.069	2748	3417	1431
15343	1.37	360.4	118.3	12.1	736	15348	0.00	2.58	0.00	0.000	6	0.000	0.054	2748	1992	1432
15667	1.37	360.4	85.9	8.7	752	15671	0.00	2.58	0.00	0.000	4	0.000	0.067	2748	586	1432
15722	1.37	360.4	80.8	9.0	754	15729	0.00	2.50	0.00	0.000	6	0.000	0.041	2748	2010	1432
16038	1.37	360.4	49.3	10.9	770	16040	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2012	1432
16348	1.37	360.4	16.9	13.4	785	16352	0.00	2.65	0.00	0.000	4	0.000	0.071	2748	588	1432
16394	1.37	360.4	11.1	11.9	787	16398	0.00	2.53	0.00	0.000	6	0.000	0.048	2748	2005	1432
16464	end climb: SURFACE_DEPTH_REACHED
state	16464	begin surface coast
16487	end surface coast: CONTROL_FINISHED_OK
state	16487	begin surface